Operator-based Robust Nonlinear Optimal Vibration Control for an Lshaped Arm Driven by Linear Pulse Motor

다국어 초록 (Multilingual Abstract)

An L-shaped arm driven by a linear pulse motor is considered in this paper, an operator-based robustnonlinear control approach is proposed to reduce the vibration of the arm. First, by separating the arm into twoparts, its vibration dynamics is modelled based on Euler-Bernoulli beam theory. Second, by using operator-basedrobust right coprime factorization approach, two control schemes are designed, one for controlling the linear pulsemotor move to the desired destination and reducing the vibration of the arm with optimal trajectory, another oneis to control vibration of the arm by using a piezoelectric actuator, where a tracking compensator is designed tocompensate the hysteresis of the piezoelectric actuator and make the arm vibration track to the reference values.
Finally, simulation results are demonstrated to verify the effectiveness of the proposed control scheme.

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